/**
  ******************************************************************************
  * @file           toolBoxScope.c
  * @author         ZohyCao
  * @version        1.0
  * @brief          ToolBox串口交互协议，波形显示独立版本，适用于ToolBox 1.04
  *                
  * 使用步骤：
  * 		适用toolBox_scope()函数发送波形数据即可，调用频率须低于200Hz
  *         数据包格式：第一位-------2（表示数据长度小于256）
  *                    第二位-------指令长度
  *                    第三位-------指令ID(103)
  *                    指令位
  *                    末三位-------crc低校验位
  *                    末二位-------crc高校验位
  *                    末一位-------3（结束标值）
  * 注意事项：
  *         数据精度1%
  *         为保持与VESC的兼容性，指令ID从100开始，详见COMM_PACK_ID
  ******************************************************************************
  */

/* Includes ---------------------------------------------------*/
#include <string.h>
#include <math.h>
#include <stdbool.h>
#include "toolBoxScope.h"
#include "stm32f4xx.h"
#include "oslib_uart.h"
/* Crc Functions---------------------------------------------------*/
// CRC Table
const unsigned short crc16_tab[] = {0x0000, 0x1021, 0x2042, 0x3063, 0x4084,
									0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad,
									0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7,
									0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
									0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
									0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
									0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719,
									0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7,
									0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948,
									0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50,
									0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b,
									0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
									0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
									0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe,
									0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca,
									0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
									0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d,
									0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214,
									0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c,
									0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
									0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
									0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d,
									0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806,
									0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e,
									0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1,
									0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
									0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0,
									0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
									0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0};

unsigned short crc16(unsigned char *buf, unsigned int len)
{
	unsigned int i;
	unsigned short cksum = 0;
	for (i = 0; i < len; i++)
	{
		cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8);
	}
	return cksum;
}

/* Scope Functions---------------------------------------------------*/
/**
  * @brief 示波器数据发送函数，发送频率须低于200Hz
  * @param dataArray:单精度浮点型数组
  * @param dataNum:数组大小，最多为8
  */
void toolBox_scope(float *dataArray, int dataNum)
{
	//最多8通道
	if (dataNum < 1 || dataNum > 8)
	{
		return;
	}
	int32_t ind = 0;
	uint8_t dataBuffer[50];
	dataBuffer[ind++] = 103; //示波器指令ID
	for (int i = 0; i < dataNum; i++)
	{
		//装载数据
		dataBuffer[ind++] = ((int32_t)(dataArray[i] * 1e2)) >> 24;
		dataBuffer[ind++] = ((int32_t)(dataArray[i] * 1e2)) >> 16;
		dataBuffer[ind++] = ((int32_t)(dataArray[i] * 1e2)) >> 8;
		dataBuffer[ind++] = (int32_t)(dataArray[i] * 1e2);
	}
	int b_ind = 0;
	unsigned char txBuffer[50];
	txBuffer[b_ind++] = 2;	 //起始位
	txBuffer[b_ind++] = ind; //数据长度

	memcpy(txBuffer + b_ind, dataBuffer, ind); //写入数据
	b_ind += ind;

	unsigned short crc = crc16(dataBuffer, ind);
	txBuffer[b_ind++] = (uint8_t)(crc >> 8);   //低校验位
	txBuffer[b_ind++] = (uint8_t)(crc & 0xFF); //高校验位
	txBuffer[b_ind++] = 3;					   //结束位
	OSLIB_Uart_SendData(&huart_major, (uint8_t *)txBuffer, b_ind);
	// HAL_UART_Transmit(&huart1, (uint8_t *)txBuffer, b_ind, 0xffff);
}